CN112137724A - 手术机器人腕部的扭矩感测 - Google Patents

手术机器人腕部的扭矩感测 Download PDF

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Publication number
CN112137724A
CN112137724A CN202011071694.XA CN202011071694A CN112137724A CN 112137724 A CN112137724 A CN 112137724A CN 202011071694 A CN202011071694 A CN 202011071694A CN 112137724 A CN112137724 A CN 112137724A
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China
Prior art keywords
axis
joint
surgical
wrist
segment
Prior art date
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Pending
Application number
CN202011071694.XA
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English (en)
Chinese (zh)
Inventor
L·D·R·黑尔斯
K·马歇尔
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CMR Surgical Ltd
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CMR Surgical Ltd
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Publication of CN112137724A publication Critical patent/CN112137724A/zh
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Manipulator (AREA)
CN202011071694.XA 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测 Pending CN112137724A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
GB1508260.5A GB2538497B (en) 2015-05-14 2015-05-14 Torque sensing in a surgical robotic wrist
GB1508260.5 2015-05-14
CN201680027589.1A CN107666875B (zh) 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CN201680027589.1A Division CN107666875B (zh) 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测

Publications (1)

Publication Number Publication Date
CN112137724A true CN112137724A (zh) 2020-12-29

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Family Applications (2)

Application Number Title Priority Date Filing Date
CN201680027589.1A Active CN107666875B (zh) 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测
CN202011071694.XA Pending CN112137724A (zh) 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201680027589.1A Active CN107666875B (zh) 2015-05-14 2016-05-13 手术机器人腕部的扭矩感测

Country Status (6)

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US (4) US10206752B2 (ja)
EP (1) EP3294183A1 (ja)
JP (1) JP6678686B2 (ja)
CN (2) CN107666875B (ja)
GB (1) GB2538497B (ja)
WO (1) WO2016181164A1 (ja)

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